Table 1.

List of Cartographer parameters.

Parameter	Description	Range	Default Value
local_slam_pose_translation_weight	Weight for translation between consecutive nodes, based in the local SLAM	$10\times {10}^2$–$10\times {10}^6$	$10\times {10}^5$
local_slam_pose_rotation_weight	Weight for rotation between consecutive nodes, based in the local SLAM	$10\times {10}^2$–$10\times {10}^6$	$10\times {10}^5$
odometry_translation_weight	Weight for translation between consecutive nodes, based in the odometry	$10\times {10}^2$– $10\times {10}^6$	$10\times {10}^5$
ceres_scan_matcher.translation_weight	Weight to be applied to the translation, for next-submap joint	0.1–1.0	0.4
ceres_scan_matcher.rotation_weight	Weight to be applied to the rotation, for next-submap joint	0.1–1.0	0.3
optimize_every_n_nodes	Quantity of inserted nodes that will be used for loop closure optimization	40–120	90
global_sampling_ratio	Sampling frequency for nodes trajectory	0.0001–0.0005	0.0003
submaps.resolution	Map resolution in meters	0.0001–0.0005	0.0003
constraint_builder.min_score	Minimum value for which will be considered that a match was found	0.4–0.8	0.6